Yes. I don't remember exactly where this specific question was answered, but as far as Toa go, they are all canonically the same height, unless there is a specific story detail that specifies them as being larger. So Tahu Nuva and Jaller Mahri should be the same height, despite the differences in their sets. This is also the same for most Matoran, except in cases such as the Matoran altered by Karzahni or the "Tohunga" Matoran from 2001, who were altered in such a way that they were made shorter.
Things get a little trickier with other species, so with those sets it can be hard to tell. As for Icarax specifically, because he's a Makuta and has the power of shapeshifting, it's likely he could be any height he desires, so even if the set doesn't represent his standard height, it could hypothetically, depending on which form he chooses.